Keywords

Visual servoing, Visual tracking, Micropositioning

Abstract

In this paper, model-based and model-free image based vi
sual servoing (VS) approaches are implemented on a mi
croassembly workstation, and their regulation and tracking
performances are evaluated. A precise image based VS re
lies on computation of the image jacobian. In the model
based visual servoing, the image Jacobian is computed via
calibrating the optical system. Precisely calibrated model
based VS promises better positioning and tracking per
formance than the model-free approach. However, in the
model-free approach, optical system calibration is not re
quired due to the dynamic Jacobian estimation, thus it has
the advantage of adapting to the different operating modes.